world_diff.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2013, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Acorn Pooley, Ioan Sucan */
00036 
00037 #include <moveit/collision_detection/world_diff.h>
00038 #include <boost/bind.hpp>
00039 
00040 
00041 collision_detection::WorldDiff::~WorldDiff()
00042 {
00043   WorldPtr old_world = world_.lock();
00044   if (old_world)
00045     old_world->removeObserver(observer_handle_);
00046 }
00047 
00048 collision_detection::WorldDiff::WorldDiff()
00049 { }
00050 
00051 collision_detection::WorldDiff::WorldDiff(const WorldPtr& world) :
00052   world_(world)
00053 {
00054   observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00055 }
00056 
00057 collision_detection::WorldDiff::WorldDiff(WorldDiff &other)
00058 {
00059   WorldPtr world = other.world_.lock();
00060   if (world)
00061   {
00062     changes_ = other.changes_;
00063 
00064     boost::weak_ptr<World>(world).swap(world_);
00065     observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00066   }
00067 }
00068 
00069 void collision_detection::WorldDiff::reset()
00070 {
00071   clearChanges();
00072 
00073   WorldPtr old_world = world_.lock();
00074   if (old_world)
00075     old_world->removeObserver(observer_handle_);
00076 
00077   world_.reset();
00078 }
00079 
00080 void collision_detection::WorldDiff::reset(const WorldPtr& world)
00081 {
00082   clearChanges();
00083 
00084   WorldPtr old_world = world_.lock();
00085   if (old_world)
00086     old_world->removeObserver(observer_handle_);
00087 
00088   boost::weak_ptr<World>(world).swap(world_);
00089   observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00090 }
00091 
00092 void collision_detection::WorldDiff::setWorld(const WorldPtr& world)
00093 {
00094   WorldPtr old_world = world_.lock();
00095   if (old_world)
00096   {
00097     old_world->notifyObserverAllObjects(observer_handle_, World::DESTROY);
00098     old_world->removeObserver(observer_handle_);
00099   }
00100 
00101   boost::weak_ptr<World>(world).swap(world_);
00102 
00103   observer_handle_ = world->addObserver(boost::bind(&WorldDiff::notify, this, _1, _2));
00104   world->notifyObserverAllObjects(observer_handle_, World::CREATE|World::ADD_SHAPE);
00105 }
00106 
00107 void collision_detection::WorldDiff::clearChanges()
00108 {
00109   changes_.clear();
00110 }
00111 
00112 void collision_detection::WorldDiff::notify(const World::ObjectConstPtr& obj, World::Action action)
00113 {
00114   World::Action& a = changes_[obj->id_];
00115   if (action == World::DESTROY)
00116     a = World::DESTROY;
00117   else
00118     a = a | action;
00119 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 6 2014 02:24:47